Support SDF's `relative_to` when inserting models
diegoferigo opened this issue · comments
The new frame semantics feature of SDF allows specifying a relative_to
attribute in the pose
element. It could be very useful to insert models programmatically in a location relative to other models:
gym-ignition/cpp/scenario/gazebo/include/scenario/gazebo/World.h
Lines 135 to 137 in 50caccf
A possible implementation could extent core::Pose
(in a backward-compatible way) so that the World::insertModel*
methods do not need any new argument.